Direct adaptive control of flexible manipulators

Selahattin Özçelik*, S. Murat Yeşiloǧlu, Hakan Temeltaş

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


Direct model reference adaptive control (DMRAC) is the state of the art algorithm with very powerful properties including robustness with respect to unmodeled dynamics and ease of implementation even to very complex systems such as highly nonlinear MIMO plants. The motivation behind the research explained in this paper is to emphasize these properties. To do that, tip point position control problem for a two-link flexible manipulator is studied. DMRAC based feed-forward compensator is designed for Euler-Bernoulli beams. Plant variations are considered.

Original languageEnglish
Title of host publicationProceedings of the 2006 American Control Conference
Number of pages6
Publication statusPublished - 2006
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: 14 Jun 200616 Jun 2006

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2006 American Control Conference
Country/TerritoryUnited States
CityMinneapolis, MN


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